Doppler-nulling and two-way timing and ranging (spatial awareness)

A system comprising:

• a receiver node comprising:
• a communications interface comprising at least one antenna element;
• and
• a controller operatively coupled to the communications interface, the controller including one or more processors, wherein the controller has information of own node velocity and own node orientation relative to a common reference frame;
• wherein the receiver node is time synchronized to apply Doppler corrections associated with the receiver node's own motions relative to the common reference frame,
• wherein the common reference frame is known to the receiver node prior to the receiver node receiving signals from a transmitter node,
• wherein the receiver node is configured to process the signals according to the Doppler corrections to the signals applied using Doppler null steering along a plurality of Null directions based on the transmitter node's own motions,
• wherein the receiver node is configured to determine a relative position between the receiver node and the transmitter node, the relative position comprising a bearing angle and a range, wherein determining the relative position comprises:
• determining the bearing angle between the receiver node and the transmitter node based on the signals based on the Doppler null steering;
• and
• determining the range between the receiver node and the transmitter node based on a two-way time-of-flight based ranging between the receiver node and the transmitter node.

A system comprising:

• a transmitter node comprising:
• a communications interface comprising at least one antenna element;
• and
• a controller operatively coupled to the communications interface, the controller including one or more processors, wherein the controller has information of own node velocity and own node orientation relative to a common reference frame;
• wherein the transmitter node is time synchronized to apply Doppler corrections associated with the transmitter node's own motions relative to the common reference frame, wherein the transmitter node is configured to apply the Doppler corrections to signals using Doppler null steering along a plurality of Null directions based on the transmitter node's own motions,
• wherein the common reference frame is known to the transmitter node prior to the transmitter node transmitting the signals,
• wherein the transmitter node is configured to determine a relative position between the transmitter node and a receiver node, the relative position comprising a bearing angle and a range, wherein determining the relative position comprises:
• determining the bearing angle between the receiver node and the transmitter node based on the signals based on the Doppler null steering;
• and
• determining the range between the receiver node and the transmitter node based on a two-way time-of-flight based ranging between the receiver node and the transmitter node.